I found that keep writing out a list of my favorite TV shows for friends, so I'm going to put the list here so that I can refer to it as needed.
Bob's Burgers -- a loving family try to run a struggling burger joint. Great writing, and very warmhearted. Here's a clip:
Steven Universe -- three lesbian space aliens attempt to raise the human/alien offspring of their dead leader in a sleepy beach town. Also, they're waging a centuries old war to defend the earth from destruction by a fascist regime from their home world. Lovely music, beautiful visuals, and pretty good writing (be prepared for a bunch of epicyclic mini-plots wandering around the main story arc). A very positive, warmhearted show. Here's a musical number:
The Expanse -- One of the most realistic depictions of space civilization I've encountered so far. Set 200 years into the future, the governments of Earth, Mars, and the "Belters" (residents of the asteroid belt) are on the brink of war when the daughter of a powerful man goes missing. The first season follows a cop assigned to find her, an unlucky freighter crew, and an Earth politician. A bit grim, and not as funny as Firefly, but the main characters are portrayed as decent (if flawed) people and there's definitely an esprit de corp developing by the end of the first season.
